The invention discloses a lane changing trajectory planning algorithm based on four-axis steering. A current road guide line and road boundary attributes are given according to a high-precision map. Obstacle information is given according to visual perception and the like. And in combination with vehicle kinematics parameter constraints, calculating a vehicle motion limit, processing a collision relationship and the like, planning a track based on an optimal control method. Oblique lane changing can be achieved during linear lane changing, drifting is avoided, flexibility of four-wheel steering is exerted on a curve, and lane changing to a target lane is achieved quickly.

    本发明公开了一种基于四轴转向的换道轨迹规划算法,依据高精地图给出当前道路引导线和道路边界属性。依据视觉感知等给出障碍物信息。结合车运动学参数约束,计算车辆运动极限,处理碰撞关系等,基于最优化控制方法规划出轨迹。本发明可以实现在直线换道时实现斜行换道避免甩尾,弯道发挥四轮转向的灵活,快速换道至目标车道。


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    Titel :

    Lane changing trajectory planning algorithm based on four-axis steering


    Weitere Titelangaben:

    一种基于四轴转向的换道轨迹规划算法


    Beteiligte:
    JIANG XUELIANG (Autor:in) / XU ZHENGHAO (Autor:in) / LI XIAOYUN (Autor:in) / HU ZHENYU (Autor:in) / KOYO (Autor:in)

    Erscheinungsdatum :

    06.08.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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